ROS2 Gazebo
Table of Content
gz environment variables
|
|
| IGN_GAZEBO_RESOURCE_PATH |
|
| IGN_GAZEBO_SYSTEM_PLUGIN_PATH |
|
ROS2
ROS2 copy folder to install folder
install(DIRECTORY
launch
models
world
DESTINATION share/${PROJECT_NAME}
)
minimum launch
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription, SetEnvironmentVariable
from launch.launch_description_sources import PythonLaunchDescriptionSource
def generate_launch_description():
ld = LaunchDescription()
pkg_ros_gz_sim = get_package_share_directory('ros_gz_sim')
pkg = get_package_share_directory('ign_tutorial')
resources = [
os.path.join(pkg, "worlds"),
os.path.join(pkg, "models")
]
resource_env = SetEnvironmentVariable(name="IGN_GAZEBO_RESOURCE_PATH", value=":".join(resources))
gazebo = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(pkg_ros_gz_sim, 'launch', 'gz_sim.launch.py')),
launch_arguments={'gz_args': '-r -v 2 empty.sdf'}.items(),
)
ld.add_action(resource_env)
ld.add_action(gazebo)
return ld